Method and apparatus for directing energy based range detection sensors

ABSTRACT

A directing apparatus includes a mechanism for producing steerable energy. The apparatus includes a mechanism for steering energy from the producing mechanism while the producing mechanism is stationary. The steering mechanism is in communication with the producing mechanism. The steering mechanism includes a scanning mechanism which continuously in a first direction scans the volume of a surrounding vertically and horizontally. A directing method.

FIELD OF THE INVENTION

The present invention is related to steering and scanning mechanisms.More specifically, the present invention is related to a scanningmechanism having an unobstructed view, operates continuously in onedirection and can operate in any orientation.

BACKGROUND OF THE INVENTION

The ability to measure surfaces and objects in 3-D is becomingincreasingly important for many fields such as autonomous vehiclenavigation and obstacle detection, quarry mapping, landfill surveying,and hazardous environment surveying. The current state of the art forscanning mechanisms is unable to meet the demand of many of theseapplications. Typical scanners are slow, unable to measure with anunobstructed view and inflexible in their ability to use different typesof range sensors. The present invention overcomes these limitations andprovides a system that will meet the existing demand for more advancedscanning mechanisms.

SUMMARY OF THE INVENTION

The present invention pertains to a directing apparatus. The directingapparatus comprises a mechanism for producing steerable energy. Thedirecting apparatus also comprises a mechanism for steering energy fromthe producing mechanism. The steering mechanism is in communication withthe producing mechanism.

The present invention pertains to a directing apparatus. The directingapparatus comprises a mechanism for producing steerable energy. Thedirecting apparatus also comprises a mechanism for scanning steerableenergy from the producing mechanism. The scanning mechanism is incommunication with the producing mechanism and operable in anyorientation.

The present invention pertains to a directing apparatus. The directingapparatus comprises a mechanism for producing steerable energy. Thedirecting apparatus also comprises a mechanism for scanning steerableenergy from the producing mechanism. The scanning mechanism is incommunication with the producing mechanism and performing a line scan ata given adjustable angle.

The present invention pertains to a directing apparatus. The directingapparatus comprises a mechanism for producing steerable energy. Thedirecting apparatus also comprises a mechanism for scanning steerableenergy from the producing mechanism. The scanning mechanism is incommunication with the producing mechanism and able to be stopped at afirst location and at least a second location so the energy can besecured in a constant direction at each location for as long as desired.

The present invention pertains to a directing apparatus. The directingapparatus comprises a mechanism for producing steerable energy. Thedirecting apparatus also comprises a mechanism for scanning steerableenergy from the producing mechanism. The scanning mechanism is incommunication with the producing mechanism and rotatable 360 degreeswithout any obstructions from the apparatus itself to the steerableenergy that is used to scan the surrounding.

The present invention pertains to a directing apparatus. The directingapparatus comprises a mechanism for producing steerable energy. Thedirecting apparatus also comprises a mechanism for scanning steerableenergy from the producing mechanism. The scanning mechanism is incommunication with the producing mechanism and having an adjustable nodangle between a first predetermined angle and a second predeterminedangle.

The present invention pertains to a directing method. The directingmethod comprises the steps of producing steerable energy. Next there isthe step of scanning a surrounding continuously in a first directionwith the steerable energy.

BRIEF DESCRIPTION OF THE DRAWINGS

In the accompanying drawings, the preferred embodiment of the inventionand preferred methods of practicing the invention are illustrated inwhich:

FIG. 1 is a functional block diagram showing the major device componentsand their interactions of the present invention.

FIG. 2 is a system process flow diagram showing the invention accordingto its first embodiment.

FIG. 3 is a second level system process flow diagram showing theinvention according to its first embodiment.

FIG. 4 is an isometric view of the mechanism showing the direction ofrotation and translations of the components in the invention accordingto its first embodiment.

FIG. 5 is a schematic representation of a cam mechanism.

FIG. 6 is a schematic representation of a side cut-away view of thespeed differential ring mechanism.

FIG. 7 is a schematic representation of a yoke assembly.

FIG. 8 is a schematic representation of a mirror assembly.

FIG. 9 is a graph associated with the movement of the mirror assemblyduring operation of the invention.

DESCRIPTION OF THE PREFERRED EMBODIMENT

Referring now to the drawings wherein like reference numerals refer tosimilar or identical parts throughout the several views, and morespecifically to FIG. 4 thereof, there is shown a directing apparatus 10.The directing apparatus 10 comprises a mechanism 12 for producingsteerable energy. The directing apparatus 10 also comprises a mechanismfor steering energy from the producing mechanism 12. The steeringmechanism 14 is in communication with the producing mechanism 12.

The mechanism for producing steerable energy preferably includes amechanism 16 for producing electromagnetic radiation. Theelectromagnetic radiation producing mechanism 16 preferably includes amechanism 18 for producing laser energy.

The steering mechanism 14 preferably includes a scanning mechanism 20which continuously scans a surrounding in a first direction. Preferablythe scanning mechanism 20 continually scans in the first direction at aspeed which is adjustable. Preferably the scanning mechanism 20continually scans in the first direction at a speed which is adjustablebetween 10-4000 rpm. The scanning mechanism 20 preferably includes asensor mechanism 58 which receives electromagnetic radiation, such asthe laser energy, back from the surrounding and determines how thesurrounding looks from the energy.

The scanning mechanism 20 preferably includes a guide mechanism 22 whichguides the radiation. The guide mechanism 22 preferably has a nod ratewhich is adjustable. The guide mechanism 22 preferably has a nod ratewhich is adjustable from 0.01-8 Hz.

The scanning mechanism 20 preferably includes a yoke assembly 24 whichholds the guide mechanism 22. Preferably the scanning mechanism 20includes a spindle assembly 26 upon which the yoke assembly 24 ismounted and which rotates continuously in the first direction. Thescanning mechanism 20 preferably includes a controller 28 whichregulates the spindle assembly 26. Additionally, the scanning mechanism20 preferably includes an encoder mechanism 30 which measures theangular position of the spindle assembly 26. Preferably the scanningmechanism 20 includes a cam mechanism 32 connected to the guidemechanism 22 and the spindle mechanism which moves the guide mechanism22 in a second direction perpendicular to the first direction.

The guide mechanism 22 preferably includes a mirror assembly 36, asshown in FIG. 8. The yoke assembly 24 preferably includes a yoke 34having a top 40 and a bottom 42 and an optical bore 38 for theelectromagnetic radiation, such as the laser energy, to travel throughthe yoke 34, as shown in FIG. 7. The optical bore 38 is in alignmentwith the mirror assembly 36. Furthermore, the mirror assembly 36preferably includes an axle 44 which connects the mirror assembly 36 tothe yoke 34 and which is housed at the top 40 of the yoke 34. The laserenergy producing mechanism 18 is preferably disposed at the bottom 42 ofthe yoke 34 and in alignment with the optical bore 38 so laser energyfrom the laser energy producing mechanism 18 can transmit along theoptical bore 38 and be reflected by the mirror assembly 36.

The scanning mechanism 20 preferably includes a speed differential ringmechanism 46 bearinged coaxially with the yoke 34 and which rotates. Thecam mechanism 32 moves along the speed differential ring mechanism 46which causes the mirror assembly 36 to rotate in the second direction asa function of the relative difference in rotational speed between thespeed differential ring mechanism 46 and the spindle assembly 26.Preferably the speed differential ring mechanism 46 has a verticalsurface having a shape of a triangular wave pattern.

The cam mechanism 32, as shown in FIG. 5, is preferably comprised of acam follower wheel 50 which moves along and tracks the vertical surfaceof the speed differential ring mechanism 46. The cam mechanism 32 isalso comprised of the toothed rack 48 which is attached to the camfollower wheel 50. The cam mechanism 32 is comprised of a linear bearing54 which houses the toothed rack 48. Preferably the guide mechanism 22includes a spur gear 52 mounted coaxially on each end of the axle 44.The spur gear 52 meshes with the toothed rack 48 which actuates the axle44 to move the mirror assembly 36 in the second direction as a functionalso of the gear tooth ratio between the toothed rack 48 and the spurgear 52. The cam mechanism 32 preferably also comprises a springmechanism 56 disposed between and connected with the cam wheel 50follower and the toothed rack 48 which allows the mirror assembly 36 toreduce backlash of the mirror assembly 36 and maintain the mirrorassembly 36 in a stable configuration during rotation. The mirrorassembly 36 preferably has a weight distribution which is loaded to tipit backwards to keep the cam wheel 50 follower on the speed differentialring mechanism 46 as the mirror assembly 36 rotates by centrifugal forcewhich is a function of the rotational speed of the mirror assembly 36.

The present invention pertains to a directing apparatus 10. Thedirecting apparatus 10 comprises a mechanism for producing steerableenergy. The directing apparatus 10 also comprises a mechanism forscanning steerable energy from the producing mechanism 12. The scanningmechanism 20 is in communication with the producing mechanism 12 andoperable in any orientation.

The present invention pertains to a directing apparatus 10. Thedirecting apparatus 10 comprises a mechanism for producing steerableenergy. The directing apparatus 10 also comprises a mechanism forscanning steerable energy from the producing mechanism 12. The scanningmechanism 20 is in communication with the producing mechanism 12 andperforms a line scan at a given adjustable angle. The line scan can beaccomplished, for instance, by having the motor mechanism move themirror mechanism to a desired location, or using windowing techniques,as is well known in the art.

The present invention pertains to a directing apparatus 10. Thedirecting apparatus 10 comprises a mechanism for producing steerableenergy. The directing apparatus 10 also comprises a mechanism forscanning steerable energy from the producing mechanism 12. The scanningmechanism 20 is in communication with the producing mechanism 12 andable to be stopped at a first location and at least a second location sothe energy can be secured in a constant direction at each location foras long as desired. This can be accomplished, for instance, bycontrolling the motor mechanism so the mirror mechanism is held at thedesired locations.

The present invention pertains to a directing apparatus 10. Thedirecting apparatus 10 comprises a mechanism for producing steerableenergy. The directing apparatus 10 also comprises a mechanism forscanning steerable energy from the producing mechanism 12. The scanningmechanism 20 is in communication with the producing mechanism 12 androtatable 360 degrees without any obstructions from the apparatus itselfto the steerable energy that is used to scan the surrounding.

The present invention pertains to a directing apparatus 10. Thedirecting apparatus 10 comprises a mechanism for producing steerableenergy. The directing apparatus 10 also comprises a mechanism 14 forscanning steerable energy from the producing mechanism 12. The scanningmechanism 20 is in communication with the producing mechanism 12 andhaving an adjustable nod angle between a first predetermined angle and asecond predetermined angle.

The present invention pertains to a directing method. The directingmethod comprises the steps of producing steerable energy. Next there isthe step of scanning a surrounding continuously in a first directionwith the steerable energy.

Preferably, the scanning step includes the step of rotating a guidemechanism 22 from a mirror assembly 36 continuously in the firstdirection. Next there is the step of reflecting the energy into thesurrounding with the mirror assembly 36 as the mirror assembly 36rotates. Then there is the step of receiving the energy back at themirror assembly 36 from the surrounding. Then there is the step ofreflecting the energy with the mirror assembly 36 to a sensor mechanism58. Next there is the step of determining how the surrounding looks fromthe energy received at the sensor mechanism 58.

The rotating step preferably includes the steps of rotating a spindleassembly 26 in the first direction upon which a yoke assembly 24 thatholds the mirror assembly 36 is mounted. Then there is the step ofrotating a speed differential mechanism bearing coaxially with the yokeassembly 24 and along which a cam mechanism 32 connected to the guidemechanism 22 moves to cause the mirror assembly 36 to rotate in a seconddirection as a function of the relative difference in rotational speedbetween the speed differential ring mechanism 46 and the spindleassembly 26.

In the operation of the preferred embodiment, there is shown in FIGS. 4,5, 6, 7 and 8, a two-dimensional scanning mechanism 20 which is used tosteer energy from lasers of a laser producing mechanism 18 to rangedetection sensors of a sensor mechanism 58 in order to generate rangedata from the entire surroundings of the scanning mechanism 20. Thescanning mechanism 20 is comprised of a guide mechanism 22 having a goldcoated aluminum mirror of mirror assembly 36, a yoke assembly 24 whichallows the mirror assembly 36 to pivot vertically, a spindle assembly 26which rotates the yoke assembly 24 horizontally, a speed differentialring mechanism 36 which generates the vertical scan motion, twobrushless DC motors 60, two incremental encoders of an encoder mechanism30, two optical switches 62, electronic circuits to control the motorvelocities, electronic circuits to establish the position of the mirrorassembly 36 in space, electronic circuits to collect and store rangedata, a mechanical housing used to mount a range detection sensor ofsensor mechanism 58, and a commercially available range detectiondevice, currently a Riegl laser spot sensor and an Amplitude ModulatedContinuous Wave (AMCW) laser range finder from Z&F Inc. of sensormechanism 58. Essentially, any laser range finder which produces energywhich fits through the optical bore can be used.

The Riegl laser spot sensor uses a laser diode and a set of lenses togenerate a collimated pulse of infrared laser energy. This beam ofenergy travels away from the sensor until it comes in contact with asurface or object. The energy reflects off of the object and a receiverin the sensor detects the reflected energy. By measuring the timeelapsed between the beginning of the pulse and the return of thereflected energy to the receiver, the distance to the object can becalculated by using the speed of light as a constant.

The Z&F AMCW laser sensor modulates the amplitude of a two continuousbeams of laser light generated by two laser diodes. There are two diodesused to improve the performance of the system over the large range ofoperation. The receiver in the sensor detects the light reflected fromthe environment and calculates the time of flight by matching the returnwave form to the output modulation. This is then used to calculate thedistance to the object.

In order to generate range from many discrete points in a volumesurrounding the sensor, the laser energy must be steered to each pointin the volume of interest.

A gold plated aluminum mirror is used to direct the energy pulse/beam.The laser reflects off of the mirror surface at the same angle it hitsthe mirror. Even though the mirror assembly 36 having the mirror iscontinuously moving, the reflected light is still received by the mirrordue to the fact that the laser energy travels at the speed of light.This makes the change in mirror position negligible and allows thesensor's receiver to collect the reflected energy. The limit on a rangefinders speed is generally derived by processing time as apposed to timeof flight of the laser energy.

The mirror is attached to an axle 44 which is then housed in a yoke 34on bearings so that the mirror can rotate in the vertical axis. Themirror assembly 36 includes precisely machined counterweights 64 todynamically balance the mirror vertical axis.

The yoke 34 is connected to a bearinged spindle assembly 26 whichrotates in the horizontal axis. The spindle assembly 26 contains aspindle pulley which is connected to a brushless DC spindle motor 60with a belt.

The spindle motor 60 speed is regulated using a commercially availablemotor control electronic circuit which implements a feedback loop usinga hall-effect sensor mounted internally to the motor.

An incremental encoder of the encoder mechanism 30 is attached to thespindle motor 60 to measure the angular position of the spindle assembly26 with respect to an index point. The index point is determined byusing an optical switch 62 as is well known in the art. The absoluteazithumis angle of the scanning mechanism 20 is determined by thefollowing equation: Θ  yph = Ny × Sy − offset${Sy} = \frac{360}{1000 \times 4 \times {GRy}}$Where:

-   -   Theta_(yph)=azimuth of the Yoke    -   Ny=Yoke encoder reading in counts    -   Sy=degrees/count    -   GRy=Gear Ratio on Yoke    -   Offset=Offset of optical switch

The mirror axle 44 is actuated by a spur gear 52 mounted coaxially onthe axle 44. The spur gear 52 meshes with a toothed rack 48 which ishoused in a linear bearing 54 attached to the spindle assembly 26. Thelower end of the rack 48 is attached to a cam follower wheel 50 whichruns along the edge of the speed differential ring mechanism 46.

The speed differential ring mechanism 46 is bearinged coaxially with theYoke 34 and is driven by the speed differential pulley which isconnected to a brushless DC motor 60 with a timing belt. The speeddifferential ring mechanism 46 has a vertical surface which has beenmachined in a triangular wave pattern. As the ring mechanism 46 rotates,the cam follower wheel 50 tracks the shape of the triangular wave whichpushes the rack 48 up and down and drives the spur gear 52 which rotatesthe mirror in the vertical axis.

The rack bearing assembly is attached to the spindle assembly housing sothat the rate of the vertical mirror rotation is a function of therelative difference in rotational speed between the speed differentialring mechanism 46 and the spindle assembly 26.${NodRate} = {4 \times \left( {{YokeRPM} - {SdrRPM}} \right)\left( \frac{1}{60} \right)}$

The amount of vertical travel of the mirror is a function of the geartooth ratio between the rack 48 and the spur gear 52, and as a functionof the amplitude of the triangular wave pattern machined on the speeddifferential ring mechanism 46.${AlphaMechanical} = \frac{\left( {57.296 \times {Zs}} \right)}{Rg}$Where:

-   -   AlphaMechanical=the change in the mechanical angle of the mirror        axle    -   Zs=The change in position of the rack    -   Rg=The radius of the Spur Gear

The vertical angular position of the mirror is determined by calculatingthe angular position of the cam follower wheel on the speed differentialring. This is accomplished by using an incremental encoder on the speeddifferential motor and an optical switch mounted in the scanner groundhousing which is activated by a switch pin 72 inserted in the side ofthe speed differential ring mechanism 46.

With reference to FIG. 9,${Ss} = \frac{360}{1000 \times 4 \times {GRs}}$ Θ  sph = Ns × SsΘ  cs = Θ  yph − Θ  sphWhere:

-   -   GRs=Gear Ratio on SDR    -   Ns=SDR encoder reading in counts    -   Ss=Degrees/Count    -   Theta_(sph)=Azimuth of SDR    -   Theta_(cs)=Relative Position of SDR to Yoke        If:        $\left. {{\Theta\quad{cs}} > \frac{\Pi}{2}}\rightarrow{\Theta\quad s} \right. = {{\Theta\quad{cs}} - \Pi}$        $\left. {{\Theta\quad{cs}} < \frac{\Pi}{2}}\rightarrow{\Theta\quad s} \right. = {{\Theta\quad{cs}} + \Pi}$        ${Zs} = {{Amplitude} - {\frac{4}{\Pi}{{fabs}\left( {\Theta\quad s} \right)}}}$        Where:    -   Zs=The change in rack position

An electronic circuit is used to allow a user of the scanning mechanism20 to specify the horizontal and vertical scan speeds, as is well knownin the art. The speed control circuit regulates the speed of each motor60 and monitors the difference in the speeds so that the resultingscanning motions are very accurate.

A second version of the scanning mechanism 20 uses a single brushless DCmotor with two output pulleys to actuate both the spindle assembly 26and the speed differential ring mechanism 46. This version relies on thegear ratio between the output pulleys to set the vertical scan speed.This version of the scanning mechanism 20 requires less controlcircuitry and one less motor but does not allow a user to have as muchflexibility with speed controls.

A one motor version can be used to create a scanner that has a fixedscan pattern at a given rpm. This is done by belting both the yoke 34and the speed differential ring mechanism 46 to the same drive motorwith different gear ratios.

The scanning mechanism 20 must be balanced in order to allow for properoperation. Specifically, the mirror assembly 36 is balanced so that thecenter of mass is located at the center of the mirror substrate on themirror surface. The mirror assembly 36 is also balanced with respect toinertia. As the mirror position changes, the inertia of the scanningmechanism 20 remains constant. This allows the scanning mechanism 20 tobe under a constant load even though the system is changing dynamically.

The mirror is also loaded slightly to tip it backwards to keep the camfollower wheel 50 on the speed differential ring mechanism 46. Thisloading increases as the revolution speed is increased. This enables thescanning mechanism 20 to operate in any orientation and even inenvironments that have high levels of vibration. The mirror assembly 36is loaded in two ways. The first is by providing a spring mechanism 56on the cam mechanism 32. This takes out any backlash in the scanningmechanism 20 and provides a preloading force on the mirror assembly 36.The second way is by moving the center of mass of the mirror assembly 36to the back by 0.0025″. This makes the lower part of the mirror want tohang below the center the mirror axle 44. The force is also a functionof scanning speed based on the centrifugal force generated duringrotation. Autocad 3-D models are used to balance the scanning mechanism20. The process is straightforward to one skilled in the art. First allof the components are modeled and assembled. The density of eachcomponent is then entered into the system and autocad calculates thecenter of the mass and inertias. The designer then adjusts thecomponents dimensions and locations to receive the desired balanced andinertia results. The force of the spring mechanism 56 is the main factorthat allows the scanning mechanism 20 to operate upside down. However,the loading of the mirror assembly 36 backwards is caused not so much bygravity but by the centrifugal force generated by the motion of thescanning mechanism 20. Therefore, the mirror assembly 36 tries to rotatein the direction that will load the mirror assembly 36 when it spinsregardless of orientation. This explains why the scanning mechanism 20can also operate upside down without a spring mechanism 56 in thescanning mechanism 20.

FIG. 1 is a schematic of the physical components and their connectionwith each other in the scanning mechanism 20. The scanning mechanism 20contains the energy device and scanning head. There are the laser orenergy producing devices' electronics 2, which are well known in theart. There is a digital input/output device 3 for interfacing with theelectronics, which is well known in the art. There is an encoder card 4which allows the encoders to be read which determines the scanningmechanism position. The motor controller 5 regulates the drivemechanism's velocity, position and acceleration based on commands fromthe CPU, which is well known in the art. The CPU 6 is the main processorof the scanning mechanism 20. The communication controller 7 can beanything from a serial port to a SCSI-2 port or any device forcommunicating between the device and the host machine. The host machine8 is where the user enters all commands and views the data.

FIG. 2 is a diagram that lays out the general flow diagram of thecurrent user software. FIG. 3 is the detailed control software flowchart, and FIG. 2 is one level higher since it is at the user level.

FIG. 3 is a flow chart showing the interactions of the differentsoftware control modules. This demonstrates one possible implementationmethod for controlling the scanning mechanism 20 and calculating the 3-Ddata from the raw position feedback signals.

There are three main control levels of the apparatus 10: high levelcontrol, motor control, and data control. The high level control handlesall of the user interface commands, timing (laser firing), and highlevel control of the motor and data control modules. The high levelcontrol is used for setting up the scanning mechanism 20 based on userinputs, downloading the required motor speeds to the motor controlmodule and setting the fire rate to get the desired data rate. The motorcontrol module is an off the shelf motor controller that regulates themotors acceleration and velocity with respect to the speeds requested bythe high level control. The data control module calculates the sphericalcoordinates based on the scanner physical position and combines thisdata with the range and amplitude value return by the distancemeasurement system. All of this data is then passed into a FIFO (FirstIn First Out) where it is sent back to the host machine. The circles aresoftware modules that perform the tasks stated with the circle. Thearrows are data paths within the control software of the scanningmechanism. For example, Motor Setpoint Generator; this module simplysets the motor setpoints for velocity, acceleration and position basedon the output of the Motor Supervisory control module and sends itsinformation to the motor controllers.

A description of the components of the scanning mechanism 20 nowfollows:

-   32. Cam Mechanism (FIG. 5)-   50. Cam Follower Wheel—Allows smooth motion of mechanism along the    top of the SDR. The wheel follows the curve on the top of the SDR.-   56. Spring Mechanism—The spring preloads the mechanism to reduce    backlash and the dynamics effects of spinning at high rpm's.-   48. Linear Toothed Rack—The rack gear meshes with the spur gear on    the mirror axle to turn linear motion into rotary motion.-   54. Linear Bearing—The bearing surface for the rack gear.-   66. Cam Mount—The mount assembly provides mounting of the cam    mechanism components to the Yoke.-   46. Speed Differential Ring (SDR) Mechanism—The SDR provides    mounting for the assembly components and the curve that provides the    motion for the cam mechanism. (FIG. 6)-   68. SDR Pulley—Provides pulley surface for SDR to connect to the    drive motor with a timing belt.-   70. Bearing Surfaces—Mounting location for the high speed bearings    that mount to the Yoke assembly.-   72. Pin Mounts—Location of the mechanical pins that activate the    optical switches.-   62. Optical Switch—Detects pins to determine position of scanning    mechanism.-   76. Exterior Bearings—Exterior high speed bearings that connect the    scanning assembly to housing ground.-   78. Mounting for scanning assembly to the housing ground.-   24. Yoke Assembly (FIG. 7)-   34. Yoke—provides mounting for assembly components and optical bore    for energy to travel through mechanism to mirror.-   80. Bearings—Yoke high speed bearings that connect assembly to the    SDR.-   82. Mounting location for the mirror assembly.-   84. Yoke Pulley—Provides pulley surface for Yoke to connect to the    drive motor with a timing belt.-   36. Mirror Assembly (FIG. 8)-   64. Counter Weights—Provide balancing of the assembly mass and    inertias.-   52. Spur gear—The spur gear meshed with the linear rack of the cam    mechanism and turns the linear motion of the cam into rotational    movement.-   44. Mirror Axle—Provides the mounting for the assembly parts and    provides alignment for mirror substrate.-   86. Mirror Substrate—The aluminum substrate has a gold covered face    to provide the mirror surface to reflect the energy beam.-   88. Yoke Counterweight—Provides balancing for the cam mechanism    mass.

Although the invention has been described in detail in the foregoingembodiments for the purpose of illustration, it is to be understood thatsuch detail is solely for that purpose and that variations can be madetherein by those skilled in the art without departing from the spiritand scope of the invention except as it may be described by thefollowing claims.

1. A directing apparatus comprising: a mechanism for producing steerableenergy; and a mechanism for steering energy from the producing mechanismwhile the producing mechanism is stationary, said steering mechanism incommunication with the producing mechanism, said steering mechanismincludes a scanning mechanism which continuously in a first directionscans the volume of a surrounding vertically and horizontally.
 2. Adirecting apparatus as described in claim 1 wherein the mechanism forproducing steerable energy includes a mechanism for producingelectromagnetic radiation.
 3. A directing apparatus as described inclaim 2 wherein the steering mechanism includes a scanning mechanismwhich continuously scans a surrounding in a first direction.
 4. Adirecting apparatus as described in claim 3 wherein the scanningmechanism includes a guide mechanism which guides the radiation.
 5. Adirecting apparatus as described in claim 4 wherein the scanningmechanism includes a yoke assembly which holds the guide mechanism.
 6. Adirecting apparatus as described in claim 5 wherein the scanningmechanism includes a spindle assembly upon which the yoke assembly ismounted and which rotates continuously in the first direction.
 7. Adirecting apparatus as described in claim 6 wherein the scanningmechanism includes a controller which regulates the spindle assembly. 8.A directing apparatus as described in claim 7 wherein the scanningmechanism includes an encoder mechanism which measures the angularposition of the spindle assembly.
 9. A directing apparatus as describedin claim 8 wherein the scanning mechanism includes a cam mechanismconnected to the guide mechanism and the spindle mechanism which movesthe guide mechanism in a second direction perpendicular to the firstdirection.
 10. A directing apparatus as described in claim 9 wherein theelectromagnetic producing mechanism includes a mechanism for producinglaser energy.
 11. A directing apparatus as described in claim 10 whereinthe guide mechanism includes a mirror assembly, wherein the yokeassembly includes a yoke having a top and a bottom and an optical borefor laser energy to travel through the yoke, said optical bore inalignment with the mirror assembly, said mirror assembly includes anaxle which connects the mirror assembly and which is housed at the topof the yoke, and wherein the laser energy producing mechanism isdisposed at the bottom of the yoke and in alignment with the opticalbore so laser energy from the laser energy producing mechanism cantransmit along the optical bore and be reflected by the mirror assembly.12. A directing apparatus as described in claim 11 wherein the scanningmechanism includes a speed differential ring mechanism bearingedcoaxially with the yoke and which rotates, said cam mechanism movesalong the speed differential ring mechanism which causes the mirrorassembly to rotate in the second direction as a function of the relativedifference in rotational speed between the speed differential ringmechanism and the spindle assembly.
 13. A directing apparatus asdescribed in claim 12 wherein the speed differential ring mechanism hasa vertical surface having a shape of a triangular wave pattern.
 14. Adirecting apparatus as described in claim 13 wherein the cam mechanismis comprised of a cam follower wheel which moves along and tracks thevertical surface of the speed differential ring mechanism, a toothedrack which is attached to the cam follower wheel, and a linear bearingwhich houses the toothed rack; and wherein the guide mechanism includesa spur gear mounted coaxially on each end of the axle, said spur gearmeshes with the toothed rack which actuates the axle to move the mirrorassembly in the second direction as a function also of the gear toothratio between the toothed rack and the spur gear.
 15. A directingapparatus as described in claim 14 wherein the cam mechanism comprises aspring mechanism disposed between and connected with the cam wheelfollower and the toothed rack which preloads the mirror assembly toreduce backlash of and maintain the mirror assembly in a stableconfiguration during rotation.
 16. A directing apparatus as described inclaim 15 wherein the mirror assembly has a weight distribution which isloaded to tip it backwards to keep the cam wheel follower on the speeddifferential ring mechanism as the mirror assembly rotates bycentrifugal force which is a function of the rotational speed of themirror assembly.
 17. A directing apparatus as described in claim 16wherein the scanning mechanism includes a sensor mechanism whichreceives the laser energy back from the surrounding and determines howthe surrounding looks from the energy.
 18. A directing apparatus asdescribed in claim 3 wherein the scanning mechanism continually scans inthe first direction at a speed which is adjustable.
 19. A directingapparatus as described in claim 18 wherein the scanning mechanismcontinually scans in the first direction at a speed which is adjustablebetween 10-4000 rpm.
 20. A directing apparatus as described in claim 4wherein the guide mechanism has a nod rate which is adjustable.
 21. Adirecting apparatus as described in claim 20 wherein the guide mechanismhas a nod rate which is adjustable from 0.01-8 Hz.
 22. A directingapparatus as described in claim 12 wherein the scanning mechanism has asingle motor which drives the yoke and the speed differential ringmechanism with different gear ratios to obtain a fixed scan pattern at agiven rpm.
 23. A directing apparatus comprising: a mechanism forproducing steerable energy; and a mechanism for steering energy from theproducing mechanism, said steering mechanism in communication with theproducing mechanism, said steering mechanism includes a scanningmechanism which continuously in a first direction scans the volume of asurrounding vertically and horizontally, the scanning mechanism has aninertia which remains constant during operation.
 24. A directingapparatus comprising: a mechanism for producing steerable energy; and amechanism for scanning steerable energy from the producing mechanism,said scanning mechanism in communication with the producing mechanismand performing a line scan at a given adjustable angle.
 25. A directingapparatus comprising: a mechanism for producing steerable energy; and amechanism for scanning steerable energy from the producing mechanismwhile the producing mechanism is stationary, said scanning mechanism incommunication with the producing mechanism and rotatable 360 degreeswithout any obstructions from the apparatus itself to the steerableenergy that is used to scan the surrounding.
 26. A directing apparatuscomprising: a mechanism for producing steerable energy; and a mechanismfor scanning steerable energy from the producing mechanism, saidscanning mechanism in communication with the producing mechanism andhaving an adjustable nod angle between a first predetermined angled anda second predetermined angle.
 27. A directing method comprising thesteps of: producing steerable energy; and scanning a surroundingvertically and horizontally continuously in a first direction with thesteerable energy while remaining stationary.
 28. A method as describedin claim 27 wherein the scanning step includes the step of rotating aguide mechanism from a mirror assembly continuously in the firstdirection, reflecting the energy into the surrounding with the mirrorassembly as the mirror assembly rotates, receiving the energy back atthe mirror assembly from the surrounding, reflecting the energy with themirror assembly to a sensor mechanism, and determining how thesurrounding looks from the energy received at the sensor mechanism. 29.A method as described in claim 28 wherein the rotating step includes thesteps of rotating a spindle assembly in the first direction upon which ayoke assembly that holds the mirror assembly is mounted, and rotating aspeed differential mechanism bearinged coaxially with the yoke mechanismand along which a cam mechanism connected to the guide mechanism movesto cause the mirror assembly to rotate in a second direction as afunction of the relative difference in rotational speed between thespeed differential ring mechanism and the spindle assembly.